API guide‌ Sample Clauses

An API guide clause defines the rules and standards for how parties should interact with and use an application programming interface (API) provided under the agreement. It typically outlines technical requirements, usage protocols, and any restrictions or obligations related to accessing or integrating with the API, such as authentication methods, data formats, or rate limits. The core function of this clause is to ensure consistent, secure, and effective use of the API, minimizing misunderstandings and technical issues between the parties.
API guide‌. ‌ 6.2.1 Message type support‌ The generated message type support has a struct that contains the API used to handle the message serialisation and deserialisation. Package name where the generated message code belongs. Message name bool cdr_serialize(const void * untyped_ros_message, ucdrBuffer * cdr) Serialize the message into a micro cdr buffer. untyped_ros_message Message pointer to serialize. cdr Micro buffer. bool cdr_deserialize(ucdrBuffer * cdr, void * untyped_ros_message, uint8_t * raw_mem_ptr, size_t raw_mem_size) Deserialize the serialized message contained into the micro cdr buffer. uint32_t get_serialized_size(const void *); Get the se rialized message size. size_t max_serialized_size(bool full_bounded); Get the maximum serialized message size. 6.2.2 Service type support‌ The generated service type support has a struct that contains the API used to handle the service. This API will provide a message type support for the client request message and message type support for the service request message. Package name where the generated message code belongs. Service name. Message type support for the request. Message type support API for the message response.
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API guide‌. DEVELOPMENT OF PROGRAM
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API guide‌. 5.2.1 rclc‌ rclc_ret_t rclc_init(int argc, char const * const * argv) A function that initialises all micro-ROS stack in a cascade way, it initialises rcl and rcl initialises rmw. Arguments are passed down to the rcl layer. This function should be called before any other one. argc Init args count. argv Init args pointer. return rcl response bool rclc_ok(void) Checks the status of rcl initialization. 5.2.2 Node‌ rclc_node_t * rclc_create_node(const char * name, const char * namespace_) Creates a ROS node. It initializes lower layer nodes, rcl_node and rmw_node. _namespace Pointer to the namespace string. rclc_ret_t rclc_destroy_node(rclc_node_t * node) Removes a ROS node and all its related publishers and subscribers. return rcl response This function listens to the ROS subscriptions from the ROS node for a given time. It triggers user callback calls with ROS messages received on subscriptions. Listens to the ROS subscriptions from the ROS node until the user closes the application. It triggers user callback calls with ROS messages received on subscriptions. 5.2.3 Publisher‌ 1 rclc_publisher_t * rclc_create_publisher(rclc_node_t * node, const rclc_message_type_support_t type_support, const char * topic_name, size_t queue_size) The rclc_create_publisher function creates a ROS publisher within the given node. The created publisher publish on the ROS topic topic_name using type_support as the type for the ROS messages. type_support Pointer to the message type support. topic_name Pointer to the topic name string. queue_size Queue size. rclc_ret_t rclc_destroy_publisher(rclc_publisher_t * publisher) Removes the publisher. return rcl response rclc_ret_t rclc_publish(const rclc_publisher_t * publisher, const void * ros_message) Publish a ROS message using the ROS topic tied to the publisher. publisher Pointer to the publisher. return rcl response 5.2.4 Subscription‌ 1 rclc_subscription_t * rclc_create_subscription(rclc_node_t * node, const rclc_message_type_support_t type_support, const char * topic_name, rclc_callback_t callback, size_t queue_size,bool ignore_local_publications) Creates a ROS subscription within the given node. The created subscription listens on the ROS topic topic_name using type_support as the type for the ROS messages. Publications on topic_name trigger call to the user callback provided. rclc_spin_node functions trigger those calls. rclc_ret_t rclc_destroy_subscription(rclc_subscription_t * subscription) Removes ROS subscription. return rcl resp...
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